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act_koch_block
AdamLucek/act_koch_block
act_koch_block is a robotics model from AdamLucek. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as mit.
Action Chunking Transformer (ACT) trained on the AdamLucek/kochblock dataset for the Koch v1.1 Low Cost Robot from LeRobot
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- mit
- Access
- Public
- Created
- Sep 20, 2024
- Updated
- Sep 22, 2024
- SHA
- 5f55ee97
Datasets
Model card
From the Hugging Face model README
Action Chunking Transformer For The Koch v1.1 Robot
Action Chunking Transformer (ACT) trained on the AdamLucek/koch_block dataset for the Koch v1.1 Low Cost Robot from LeRobot
Usage
Details around methodology for set up, training, and evaluation available via LeRobot's guide to Getting Started with Real World Robots
Training Details
The model was trained using LeRobot's training script and the AdamLucek/koch_block dataset, using this command:
python lerobot/scripts/train.py `
dataset_repo_id="AdamLucek/koch_block" `
policy="act_koch_real" `
env="koch_real" `
hydra.run.dir="outputs/train/act_koch_test" `
hydra.job.name="act_koch_test" `
device="cuda" `
wandb.enable="true"
Training was done on a 3060 for roughly 7 hours, loss curve and statistics available in wandb report here.
- Task
- Robotics
- Library
- lerobot
- License
- mit
- Created
- Sep 20, 2024
- Updated
- Sep 22, 2024